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Unzueta L.,Vicomtech IK4 | Pimenta W.,University of Minho | Goenetxea J.,Vicomtech IK4 | Santos L.P.,University of Minho | And 2 more authors.
Image and Vision Computing | Year: 2014

In this paper we present a robust and lightweight method for the automatic fitting of deformable 3D face models on facial images. Popular fitting techniques such as those based on statistical models of shape and appearance require a training stage based on a set of facial images and their corresponding facial landmarks, which have to be manually labeled. Therefore, new images in which to fit the model cannot differ too much in shape and appearance (including illumination variation, facial hair, wrinkles, etc.) from those used for training. By contrast, our approach can fit a generic face model in two steps: (1) the detection of facial features based on local image gradient analysis and (2) the backprojection of a deformable 3D face model through the optimization of its deformation parameters. The proposed approach can retain the advantages of both learning-free and learning-based approaches. Thus, we can estimate the position, orientation, shape and actions of faces, and initialize user-specific face tracking approaches, such as Online Appearance Models (OAMs), which have shown to be more robust than generic user tracking approaches. Experimental results show that our method outperforms other fitting alternatives under challenging illumination conditions and with a computational cost that allows its implementation in devices with low hardware specifications, such as smartphones and tablets. Our proposed approach lends itself nicely to many frameworks addressing semantic inference in face images and videos. © 2014 Elsevier B.V.


Nieto M.,Vicomtech ik4 | Cortes A.,Vicomtech ik4 | Otaegui O.,Vicomtech ik4 | Arrospide J.,Technical University of Madrid | And 2 more authors.
Journal of Real-Time Image Processing | Year: 2016

A novel approach to real-time lane modeling using a single camera is proposed. The proposed method is based on an efficient design and implementation of a particle filter which applies the concepts of the Rao-Blackwellized particle filter (RBPF) by separating the state into linear and non-linear parts. As a result the dimensionality of the problem is reduced, which allows the system to perform in real-time in embedded systems. The method is used to determine the position of the vehicle inside its own lane and the curvature of the road ahead to enhance the performance of advanced driver assistance systems. The effectiveness of the method has been demonstrated implementing a prototype and testing its performance empirically on road sequences with different illumination conditions (day and nightime), pavement types, traffic density, etc. Results show that our proposal is capable of accurately determining if the vehicle is approaching the lane markings (Lane Departure Warning), and the curvature of the road ahead, achieving processing times below 2 ms per frame for laptop CPUs, and 12 ms for embedded CPUs. © 2012, Springer-Verlag Berlin Heidelberg.


Shafiq S.I.,University of Newcastle | Sanin C.,University of Newcastle | Toro C.,Vicomtech IK4 | Szczerbicki E.,Technical University of Gdansk
Cybernetics and Systems | Year: 2015

In this article we propose the concept, its framework, and implementation methodology for Virtual Engineering Objects (VEO). A VEO is the knowledge representation of an engineering object that embodies its associated knowledge and experience. A VEO is capable of adding, storing, improving, and sharing knowledge through experience. Moreover, it is demonstrated that VEO is a specialization of a Cyber-Physical System (CPS). In this article, it is shown through test models how the concept of VEO can be implemented with the Set of Experience Knowledge Structure (SOEKS) and Decisional DNA (DDNA). The test model confirmed that the concept of VEO is able to capture and reuse the experience of engineering artifacts, which can be beneficial for efficient decision-making in industrial design and manufacturing. Copyright © Taylor & Francis Group, LLC.


Nieto M.,Vicomtech ik4 | Salgado L.,Technical University of Madrid
Pattern Recognition Letters | Year: 2011

This paper introduces a new method for the simultaneous computation of sets of lines meeting at multiple vanishing points through the use of the Expectation-Maximisation (EM) algorithm. The proposed method is based on the formulation of novel error functions in the projective plane between lines and points which involve the use of non-linear optimisation procedures that allow to treat equally finite and infinite vanishing points. These functions are included into the EM framework, which handles the multi-modality of the problem naturally with mixture models. Results show that the proposed method of joint computation of vanishing points and lines converging at such points enhances the robustness and the accuracy of locating these points. © 2011 Elsevier B.V. All rights reserved.


Nieto M.,Technical University of Madrid | Cuevas C.,Vicomtech ik4 | Salgado L.,Vicomtech ik4 | Garcia N.,Vicomtech ik4
Pattern Analysis and Applications | Year: 2011

A new line segment detection approach is introduced in this paper for its application in real-time computer vision systems. It has been designed to work unsupervised without any prior knowledge of the imaged scene; hence, it does not require tuning of input parameters. Although many works have been presented on this topic, as far as we know, none of them achieves a trade-off between accuracy and speed as our strategy does. The reduction of the computational cost compared to other fast methods is based on a very efficient sampling strategy that sequentially proposes points on the image that likely belong to line segments. Then, a fast line growing algorithm is applied based on the Bresenham algorithm, which is combined with a modified version of the mean shift algorithm to provide accurate line segments while being robust against noise. The performance of this strategy is tested for a wide variety of images, comparing its results with popular state-of-the-art line segment detection methods. The results show that our proposal outperforms these works considering simultaneously accuracy in the results and processing speed. © 2011 Springer-Verlag London Limited.


Ortega J.D.,Vicomtech IK4 | Nieto M.,Vicomtech IK4 | Cortes A.,Vicomtech IK4 | Florez J.,University of Navarra
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) | Year: 2013

This paper presents a single camera vehicle detection technique for forward collision warning systems suitable to be integrated in embedded platforms. It combines the robustness of detectors based on classification methods with an innovative perspective multi-scale procedure to scan the images that dramatically reduces the computational cost associated with robust detectors. In our experiments we compare different implementation classifiers in search for a trade-off between the real-time constraint of embedded platforms and the high detection rates required by safety applications. © 2013 Springer-Verlag.


Murua A.,Vicomtech ik4 | Gonzalez I.,Iriscom Sistemas S.L. | Gomez-Martinez E.,Technosite
2011 Federated Conference on Computer Science and Information Systems, FedCSIS 2011 | Year: 2011

Cloud computing will play a large part in the ICT domain over the next 10 years or more. Many long-term aspects are still in an experimental stage, where the long-term impact on provisioning and usage is still unknown. While first attempts at this field focused on service provisioning for enterprises, cloud is reaching individuals nowadays. Our proposal is to go a step further and, based on the proven benefits of the Cloud, improve Internet and technology access for those people always left behind when any technological progress takes place. This paper presents the Cloud-based Assistive Technology Service delivering to individuals who face technology accessibility barriers due to ageing or disabilities. An example of how an Assistive Service is delivered to an individual in an easy and seamless way is given as a demonstration of how the future should be. This proof of concept has been developed within the INREDIS research project. © 2011 Polish Info Processing Soc.


Nieto M.,Vicomtech IK4 | Ortega J.D.,Vicomtech IK4 | Cortes A.,Vicomtech IK4 | Gaines S.,Vicomtech IK4
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) | Year: 2014

The efficient detection and tracking of persons in videos has widrespread applications, specially in CCTV systems for surveillance or forensics applications. In this paper we present a new method for people detection and tracking based on the knowledge of the perspective information of the scene. It allows alleviating two main drawbacks of existing methods: (i) high or even excessive computational cost associated to multiscale detection-by- classification methods; and (ii) the inherent difficulty of the CCTV, in which predominate partial and full occlusions as well as very high intra-class variability. During the detection stage, we propose to use the homograhy of the dominant plane to compute the expected sizes of persons at different positions of the image and thus dramatically reduce the number of evaluation of the multiscale sliding window detection scheme. To achieve robustness against false positives and negatives, we have used a combination of full and upper-body detectors, as well as a Data Association Filter (DAF) inspired in the well-known Rao-Blackwellization-based particle filters (RBPF). Our experiments demonstrate the benefit of using the proposed perspective multiscale approach, compared to conventional sliding window approaches, and also that this perspective information can lead to useful mixes of full-body and upper-body detectors. © 2014 Springer International Publishing.


Barbadillo J.,Vicomtech IK4 | Sanchez J.R.,Vicomtech IK4
Proceedings - Web3D 2013: 18th International Conference on 3D Web Technology | Year: 2013

In recent years Augmented Reality applications have become very popular for mobile devices. Anyway, creating an AR application has always been a difficult task, and a deep knowledge on the topic was required. Authoring tools have tried to simplify the problem providing a visual interface for creating applications. The interface for examination of Ming-Jen at al. [Wang et al. 2010] and the work of Jesus Gimeno et al. [J. Gimeno 2010] are some examples. Despite the simple and attractive tool thatWeb3D represents for visualization, to the best of our knowledge there are no references to any solution that combines an AR authoring tool for mobiles with a Web3D interface.


Cuadros M.,Vicomtech IK4
Procesamiento de Lenguaje Natural | Year: 2013

Ph. D. thesis in Computer Science written by Montse Cuadros under the supervision of Dr. Lluís Padró and Dr. German Rigau. The thesis defense was done on 22th November 2011 at the Computer Science Faculty of the Universitat Politècnica de Catalunya. The Doctoral Examination Committee was composed by Dr. Horacio Rodríguez (Universitat Politecnica de Catalunya), Prof. Dr. Piek Vossen (Vrije Universiteit Amsterdam), Dra. Arantza Diaz de Ilarraza (Universidad del Pais Vasco), Dra. Irene Castellón (Universitat de Barcelona) and Dr. Roberto Navigli (Sapienza University of Rome). The thesis was graded Cum Laude. © 2013 Sociedad Española para el Procesamiento del Lenguaje.

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